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<div class="title">DesiredStateCommand.cpp</div>  </div>
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<a href="../../d3/d4e/_desired_state_command_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*========================= Gamepad Control ==========================*/</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="../../d8/dfc/_desired_state_command_8h.html">Controllers/DesiredStateCommand.h</a>&quot;</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;</div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">/*=========================== Gait Data ===============================*/</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00013"></a><span class="lineno"><a class="line" href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">   13</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">DesiredStateData&lt;T&gt;::zero</a>() {</div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;  <span class="comment">// Overall desired state</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;  stateDes = <a class="code" href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  stateTrajDes = Eigen::Matrix&lt;T, 12, 10&gt;::Zero();</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;}</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="keyword">template</span> <span class="keyword">struct </span><a class="code" href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData&lt;double&gt;</a>;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="keyword">template</span> <span class="keyword">struct </span><a class="code" href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData&lt;float&gt;</a>;</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00026"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a21143e9f676a1558f8ba3f742750b98b">   26</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/d27/class_desired_state_command.html#a21143e9f676a1558f8ba3f742750b98b">DesiredStateCommand&lt;T&gt;::convertToStateCommands</a>() {</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  data.zero();</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  <span class="comment">// Forward linear velocity</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;  data.stateDes(6) =</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <a class="code" href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a>(gamepadCommand-&gt;leftStickAnalog[1], minVelX, maxVelX);</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="comment">// Lateral linear velocity</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  data.stateDes(7) =</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;      <a class="code" href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a>(gamepadCommand-&gt;leftStickAnalog[0], minVelY, maxVelY);</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  <span class="comment">// VErtical linear velocity</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  data.stateDes(8) = 0.0;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  <span class="comment">// X position</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  data.stateDes(0) = stateEstimate-&gt;position(0) + dt * data.stateDes(6);</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  <span class="comment">// Y position</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  data.stateDes(1) = stateEstimate-&gt;position(1) + dt * data.stateDes(7);</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// Z position height</span></div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  data.stateDes(2) = 0.45;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// Roll rate</span></div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  data.stateDes(9) = 0.0;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// Pitch rate</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  data.stateDes(10) = 0.0;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="comment">// Yaw turn rate</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  data.stateDes(11) =</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <a class="code" href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a>(gamepadCommand-&gt;rightStickAnalog[0], minTurnRate, maxTurnRate);</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// Roll</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  data.stateDes(3) = 0.0;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="comment">// Pitch</span></div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  data.stateDes(4) =</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <a class="code" href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a>(gamepadCommand-&gt;rightStickAnalog[1], minPitch, maxPitch);</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="comment">// Yaw</span></div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  data.stateDes(5) = stateEstimate-&gt;rpy(2) + dt * data.stateDes(11);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;}</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#aa00bae32ea935264a5785dc0db4ee992">   74</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/d27/class_desired_state_command.html#aa00bae32ea935264a5785dc0db4ee992">DesiredStateCommand&lt;T&gt;::desiredStateTrajectory</a>(<span class="keywordtype">int</span> N, <a class="code" href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10&lt;T&gt;</a> dtVec) {</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  A = <a class="code" href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12&lt;T&gt;::Zero</a>();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  A(0, 0) = 1;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  A(1, 1) = 1;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  A(2, 2) = 1;</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  A(3, 3) = 1;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  A(4, 4) = 1;</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  A(5, 5) = 1;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  A(6, 6) = 1;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  A(7, 7) = 1;</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  A(8, 8) = 1;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  A(9, 9) = 1;</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  A(10, 10) = 1;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  A(11, 11) = 1;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  data.stateTrajDes.col(0) = data.stateDes;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> k = 1; k &lt; N; k++) {</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    A(0, 6) = dtVec(k - 1);</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    A(1, 7) = dtVec(k - 1);</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    A(2, 8) = dtVec(k - 1);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    A(3, 9) = dtVec(k - 1);</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    A(4, 10) = dtVec(k - 1);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    A(5, 11) = dtVec(k - 1);</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    data.stateTrajDes.col(k) = A * data.stateTrajDes.col(k - 1);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 12; i++) {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// std::cout &lt;&lt; data.stateTrajDes(i, k) &lt;&lt; &quot; &quot;;</span></div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    }</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="comment">// std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">// std::cout &lt;&lt; std::endl;</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;}</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">  110</a></span>&#160;<span class="keywordtype">float</span> <a class="code" href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">DesiredStateCommand&lt;T&gt;::deadband</a>(<span class="keywordtype">float</span> command, T minVal, T maxVal) {</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">if</span> (command &lt; deadbandRegion &amp;&amp; command &gt; -deadbandRegion) {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">return</span> 0.0;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    <span class="keywordflow">return</span> (command / (2)) * (maxVal - minVal);</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;}</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#a12bdcb978e523b2097f2f44bc7edb1ab">  122</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/d27/class_desired_state_command.html#a12bdcb978e523b2097f2f44bc7edb1ab">DesiredStateCommand&lt;T&gt;::printRawInfo</a>() {</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  printIter++;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="keywordflow">if</span> (printIter == printNum) {</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[DESIRED STATE COMMAND] Printing Raw Gamepad Info...\n&quot;</span>;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Button Start: &quot;</span> &lt;&lt; gamepadCommand-&gt;start</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Back: &quot;</span> &lt;&lt; gamepadCommand-&gt;back &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Button A: &quot;</span> &lt;&lt; gamepadCommand-&gt;a</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | B: &quot;</span> &lt;&lt; gamepadCommand-&gt;b &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; gamepadCommand-&gt;x</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; gamepadCommand-&gt;y &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Left Stick Button: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftStickButton</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftStickAnalog[0]</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftStickAnalog[1] &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Right Analog Button: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightStickButton</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | X: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightStickAnalog[0]</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightStickAnalog[1] &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Left Bumper: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftBumper</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Switch: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftTriggerButton</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Value: &quot;</span> &lt;&lt; gamepadCommand-&gt;leftTriggerAnalog</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Right Bumper: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightBumper</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Switch: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightTriggerButton</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Trigger Value: &quot;</span> &lt;&lt; gamepadCommand-&gt;rightTriggerAnalog</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n\n&quot;</span>;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    printIter = 0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  }</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;}</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="../../d0/d27/class_desired_state_command.html#aefa1ecadb7b80a2e48ee9fe25123745e">  160</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="../../d0/d27/class_desired_state_command.html#aefa1ecadb7b80a2e48ee9fe25123745e">DesiredStateCommand&lt;T&gt;::printStateCommandInfo</a>() {</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// Increment printing iteration</span></div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  printIter++;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// Print at requested frequency</span></div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keywordflow">if</span> (printIter == printNum) {</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;[DESIRED STATE COMMAND] Printing State Command Info...\n&quot;</span>;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;---------------------------------------------------------\n&quot;</span>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Position X: &quot;</span> &lt;&lt; data.stateDes(0)</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; data.stateDes(1) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; data.stateDes(2)</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Orientation Roll: &quot;</span> &lt;&lt; data.stateDes(3)</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Pitch: &quot;</span> &lt;&lt; data.stateDes(4)</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Yaw: &quot;</span> &lt;&lt; data.stateDes(5) &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Velocity X: &quot;</span> &lt;&lt; data.stateDes(6)</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; data.stateDes(7) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; data.stateDes(8)</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    std::cout &lt;&lt; <span class="stringliteral">&quot;Angular Velocity X: &quot;</span> &lt;&lt; data.stateDes(9)</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;              &lt;&lt; <span class="stringliteral">&quot; | Y: &quot;</span> &lt;&lt; data.stateDes(10) &lt;&lt; <span class="stringliteral">&quot; | Z: &quot;</span> &lt;&lt; data.stateDes(11)</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;              &lt;&lt; <span class="stringliteral">&quot;\n&quot;</span>;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    std::cout &lt;&lt; std::endl;</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// Reset iteration counter</span></div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    printIter = 0;</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;}</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand&lt;double&gt;</a>;</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;<span class="keyword">template</span> <span class="keyword">class </span><a class="code" href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand&lt;float&gt;</a>;</div><div class="ttc" id="cpp_types_8h_html_ada3d7962220cc81b232609a200370584"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#ada3d7962220cc81b232609a200370584">Mat12</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 12, 12 &gt; Mat12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00074">cppTypes.h:74</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a12bdcb978e523b2097f2f44bc7edb1ab"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a12bdcb978e523b2097f2f44bc7edb1ab">DesiredStateCommand::printRawInfo</a></div><div class="ttdeci">void printRawInfo()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00122">DesiredStateCommand.cpp:122</a></div></div>
<div class="ttc" id="struct_desired_state_data_html"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html">DesiredStateData</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00017">DesiredStateCommand.h:17</a></div></div>
<div class="ttc" id="class_desired_state_command_html_aefa1ecadb7b80a2e48ee9fe25123745e"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#aefa1ecadb7b80a2e48ee9fe25123745e">DesiredStateCommand::printStateCommandInfo</a></div><div class="ttdeci">void printStateCommandInfo()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00160">DesiredStateCommand.cpp:160</a></div></div>
<div class="ttc" id="_desired_state_command_8h_html"><div class="ttname"><a href="../../d8/dfc/_desired_state_command_8h.html">DesiredStateCommand.h</a></div></div>
<div class="ttc" id="utilities_8h_html_a2ecabd546948cea7bb3c432258a1b2ac"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a2ecabd546948cea7bb3c432258a1b2ac">deadband</a></div><div class="ttdeci">T deadband(T x, T range)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00046">utilities.h:46</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a5b5c9415b99af20473201414cb37ad43"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a5b5c9415b99af20473201414cb37ad43">Vec10</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 10, 1 &gt; Vec10</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00038">cppTypes.h:38</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a87f228860242acc66da2e58086d18cec"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a87f228860242acc66da2e58086d18cec">Vec12</a></div><div class="ttdeci">Eigen::Matrix&lt; T, 12, 1 &gt; Vec12</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00042">cppTypes.h:42</a></div></div>
<div class="ttc" id="struct_desired_state_data_html_afd2e9af1d119c8c516e0b75e6ee09199"><div class="ttname"><a href="../../d5/dc1/struct_desired_state_data.html#afd2e9af1d119c8c516e0b75e6ee09199">DesiredStateData::zero</a></div><div class="ttdeci">void zero()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00013">DesiredStateCommand.cpp:13</a></div></div>
<div class="ttc" id="class_desired_state_command_html_ac0c4857456d08b28eb6cb954d35e80b8"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#ac0c4857456d08b28eb6cb954d35e80b8">DesiredStateCommand::deadband</a></div><div class="ttdeci">float deadband(float command, T minVal, T maxVal)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00110">DesiredStateCommand.cpp:110</a></div></div>
<div class="ttc" id="class_desired_state_command_html_aa00bae32ea935264a5785dc0db4ee992"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#aa00bae32ea935264a5785dc0db4ee992">DesiredStateCommand::desiredStateTrajectory</a></div><div class="ttdeci">void desiredStateTrajectory(int N, Vec10&lt; T &gt; dtVec)</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00074">DesiredStateCommand.cpp:74</a></div></div>
<div class="ttc" id="class_desired_state_command_html_a21143e9f676a1558f8ba3f742750b98b"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html#a21143e9f676a1558f8ba3f742750b98b">DesiredStateCommand::convertToStateCommands</a></div><div class="ttdeci">void convertToStateCommands()</div><div class="ttdef"><b>Definition:</b> <a href="../../d3/d4e/_desired_state_command_8cpp_source.html#l00026">DesiredStateCommand.cpp:26</a></div></div>
<div class="ttc" id="class_desired_state_command_html"><div class="ttname"><a href="../../d0/d27/class_desired_state_command.html">DesiredStateCommand</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d8/dfc/_desired_state_command_8h_source.html#l00035">DesiredStateCommand.h:35</a></div></div>
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